corbo::Rate Class Reference

Rate objects can be used to run loops at a desired rate. More...

#include <time.h>

Public Member Functions
Duration	lastCycleTime () const
	Return actual execution time of the last cycle. More...
	Rate (const Duration &dt)
	Cosntruct rate object from duration object (interval length) More...
	Rate (double frequency)
	Construct rate object from frequency [1/s]. More...
void	reset ()
bool	sleep ()
	Sleep for the remaining duration to met the desired frequency (w.r.t previous sleep call) More...
void	updateCycleTime (const Duration &dt)
	Update cycle time without resetting start time. More...

Private Attributes
Duration	_cycle_time
Duration	_last_cycle_time = Duration(0)
Time	_start = Time::now()

Detailed Description

Rate objects can be used to run loops at a desired rate.

Rate rate(10) // The loop should run at 10 Hz
while (1)
{
   // perform some work which is ideally finished before 1/10 s
   // in order to remain synchronized
   rate.sleep(); // pause to synchronize with 10 Hz
}

This class is inspired and based on the ROS class ros::Time http://wiki.ros.org/roscpp/Overview/Time

See also

Time Duration

Author

Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 375 of file time.h.

Constructor & Destructor Documentation

Rate() [1/2]

corbo::Rate::Rate ( double  frequency )

inlineexplicit

Construct rate object from frequency [1/s].

Definition at line 379 of file time.h.

Rate() [2/2]

corbo::Rate::Rate ( const Duration &  dt )

inlineexplicit

Cosntruct rate object from duration object (interval length)

Definition at line 381 of file time.h.

Member Function Documentation

lastCycleTime()

Duration corbo::Rate::lastCycleTime ( ) const

inline

Return actual execution time of the last cycle.

Definition at line 390 of file time.h.

reset()

void corbo::Rate::reset ( )

inline

Definition at line 384 of file time.h.

sleep()

bool corbo::Rate::sleep

(

)

Sleep for the remaining duration to met the desired frequency (w.r.t previous sleep call)

Definition at line 53 of file time.cpp.

updateCycleTime()

void corbo::Rate::updateCycleTime ( const Duration &  dt )

inline

Update cycle time without resetting start time.

Definition at line 387 of file time.h.

Member Data Documentation

_cycle_time

Duration corbo::Rate::_cycle_time

private

Definition at line 394 of file time.h.

_last_cycle_time

Duration corbo::Rate::_last_cycle_time = Duration(0)

private

Definition at line 395 of file time.h.

_start

Time corbo::Rate::_start = Time::now()

private

Definition at line 393 of file time.h.

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The documentation for this class was generated from the following files:

• time.h
• time.cpp